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Blackbox: make logging of autotune events more detailed

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This commit is contained in:
Nicholas Sherlock 2015-01-27 01:43:13 +13:00
parent febf80915f
commit 9708c00a2e
3 changed files with 62 additions and 10 deletions
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17
src/main/blackbox/blackbox.c
View file

@ -354,6 +354,12 @@ static void writeSignedVB(int32_t value)
writeUnsignedVB((uint32_t)((value << 1) ^ (value >> 31)));
}
static void writeS16(int16_t value)
{
blackboxWrite(value & 0xFF);
blackboxWrite((value >> 8) & 0xFF);
}
/**
* Write a 2 bit tag followed by 3 signed fields of 2, 4, 6 or 32 bits
*/
@ -1270,17 +1276,24 @@ void blackboxLogEvent(FlightLogEvent event, flightLogEventData_t *data)
break;
case FLIGHT_LOG_EVENT_AUTOTUNE_CYCLE_START:
blackboxWrite(data->autotuneCycleStart.phase);
blackboxWrite(data->autotuneCycleStart.cycle);
blackboxWrite(data->autotuneCycleStart.cycle | (data->autotuneCycleStart.rising ? 0x80 : 0));
blackboxWrite(data->autotuneCycleStart.p);
blackboxWrite(data->autotuneCycleStart.i);
blackboxWrite(data->autotuneCycleStart.d);
break;
case FLIGHT_LOG_EVENT_AUTOTUNE_CYCLE_RESULT:
blackboxWrite(data->autotuneCycleResult.overshot);
blackboxWrite(data->autotuneCycleResult.flags);
blackboxWrite(data->autotuneCycleStart.p);
blackboxWrite(data->autotuneCycleStart.i);
blackboxWrite(data->autotuneCycleStart.d);
break;
case FLIGHT_LOG_EVENT_AUTOTUNE_TARGETS:
writeS16(data->autotuneTargets.currentAngle);
blackboxWrite((uint8_t) data->autotuneTargets.targetAngle);
blackboxWrite((uint8_t) data->autotuneTargets.targetAngleAtPeak);
writeS16(data->autotuneTargets.firstPeakAngle);
writeS16(data->autotuneTargets.secondPeakAngle);
break;
case FLIGHT_LOG_EVENT_LOG_END:
blackboxPrint("End of log");
blackboxWrite(0);

15
src/main/blackbox/blackbox_fielddefs.h
View file

@ -101,6 +101,7 @@ typedef enum FlightLogEvent {
FLIGHT_LOG_EVENT_SYNC_BEEP = 0,
FLIGHT_LOG_EVENT_AUTOTUNE_CYCLE_START = 10,
FLIGHT_LOG_EVENT_AUTOTUNE_CYCLE_RESULT = 11,
FLIGHT_LOG_EVENT_AUTOTUNE_TARGETS = 12,
FLIGHT_LOG_EVENT_LOG_END = 255
} FlightLogEvent;
@ -114,21 +115,31 @@ typedef struct flightLogEvent_autotuneCycleStart_t {
uint8_t p;
uint8_t i;
uint8_t d;
uint8_t rising;
} flightLogEvent_autotuneCycleStart_t;
#define FLIGHT_LOG_EVENT_AUTOTUNE_FLAG_OVERSHOT 1
#define FLIGHT_LOG_EVENT_AUTOTUNE_FLAG_TIMEDOUT 2
typedef struct flightLogEvent_autotuneCycleResult_t {
uint8_t overshot;
uint8_t flags;
uint8_t p;
uint8_t i;
uint8_t d;
} flightLogEvent_autotuneCycleResult_t;
typedef struct flightLogEvent_autotuneTargets_t {
uint16_t currentAngle;
int8_t targetAngle, targetAngleAtPeak;
uint16_t firstPeakAngle, secondPeakAngle;
} flightLogEvent_autotuneTargets_t;
typedef union flightLogEventData_t
{
flightLogEvent_syncBeep_t syncBeep;
flightLogEvent_autotuneCycleStart_t autotuneCycleStart;
flightLogEvent_autotuneCycleResult_t autotuneCycleResult;
flightLogEvent_autotuneTargets_t autotuneTargets;
} flightLogEventData_t;
typedef struct flightLogEvent_t

40
src/main/flight/autotune.c
View file

@ -161,11 +161,32 @@ static void autotuneLogCycleStart()
eventData.p = pid.p * MULTIWII_P_MULTIPLIER;
eventData.i = pid.i * MULTIWII_I_MULTIPLIER;
eventData.d = pid.d;
eventData.rising = rising ? 1 : 0;
blackboxLogEvent(FLIGHT_LOG_EVENT_AUTOTUNE_CYCLE_START, (flightLogEventData_t*)&eventData);
}
}
static void autotuneLogAngleTargets(float currentAngle)
{
if (feature(FEATURE_BLACKBOX)) {
flightLogEvent_autotuneTargets_t eventData;
// targetAngle is always just -AUTOTUNE_TARGET_ANGLE or +AUTOTUNE_TARGET_ANGLE so no need for float precision:
eventData.targetAngle = (int) targetAngle;
// and targetAngleAtPeak is set to targetAngle so it has the same small precision requirement:
eventData.targetAngleAtPeak = (int) targetAngleAtPeak;
// currentAngle is integer decidegrees divided by 10, so just reverse that process to get an integer again:
eventData.currentAngle = round(currentAngle * 10);
// the peak angles are only ever set to currentAngle, so they get the same treatment:
eventData.firstPeakAngle = round(firstPeakAngle * 10);
eventData.secondPeakAngle = round(secondPeakAngle * 10);
blackboxLogEvent(FLIGHT_LOG_EVENT_AUTOTUNE_TARGETS, (flightLogEventData_t*)&eventData);
}
}
#endif
static void startNewCycle(void)
@ -199,6 +220,7 @@ static void updateTargetAngle(void)
float autotune(angle_index_t angleIndex, const rollAndPitchInclination_t *inclination, float errorAngle)
{
float currentAngle;
bool overshot;
if (!(phase == PHASE_TUNE_ROLL || phase == PHASE_TUNE_PITCH) || autoTuneAngleIndex != angleIndex) {
return errorAngle;
@ -229,6 +251,10 @@ float autotune(angle_index_t angleIndex, const rollAndPitchInclination_t *inclin
debug[2] = DEGREES_TO_DECIDEGREES(targetAngle);
#endif
#ifdef BLACKBOX
autotuneLogAngleTargets(currentAngle);
#endif
if (secondPeakAngle == 0) {
// The peak will be when our angular velocity is negative. To be sure we are in the right place,
// we also check to make sure our angle position is greater than zero.
@ -244,20 +270,22 @@ float autotune(angle_index_t angleIndex, const rollAndPitchInclination_t *inclin
switch (cycle) {
case CYCLE_TUNE_I:
// when checking the I value, we would like to overshoot the target position by half of the max oscillation.
if (currentAngle - targetAngle < AUTOTUNE_MAX_OSCILLATION_ANGLE / 2) {
pid.i *= AUTOTUNE_INCREASE_MULTIPLIER;
} else {
overshot = currentAngle - targetAngle >= AUTOTUNE_MAX_OSCILLATION_ANGLE / 2;
if (overshot) {
pid.i *= AUTOTUNE_DECREASE_MULTIPLIER;
if (pid.i < AUTOTUNE_MINIMUM_I_VALUE) {
pid.i = AUTOTUNE_MINIMUM_I_VALUE;
}
} else {
pid.i *= AUTOTUNE_INCREASE_MULTIPLIER;
}
#ifdef BLACKBOX
if (feature(FEATURE_BLACKBOX)) {
flightLogEvent_autotuneCycleResult_t eventData;
eventData.overshot = currentAngle - targetAngle < AUTOTUNE_MAX_OSCILLATION_ANGLE / 2 ? 0 : 1;
eventData.flags = overshot ? FLIGHT_LOG_EVENT_AUTOTUNE_FLAG_OVERSHOT: 0;
eventData.p = pidProfile->P8[pidIndex];
eventData.i = pidProfile->I8[pidIndex];
eventData.d = pidProfile->D8[pidIndex];
@ -300,7 +328,7 @@ float autotune(angle_index_t angleIndex, const rollAndPitchInclination_t *inclin
// analyze the data
// Our goal is to have zero overshoot and to have AUTOTUNE_MAX_OSCILLATION_ANGLE amplitude
bool overshot = firstPeakAngle > targetAngleAtPeak;
overshot = firstPeakAngle > targetAngleAtPeak;
if (overshot) {
#ifdef DEBUG_AUTOTUNE
debug[0] = 1;
@ -338,7 +366,7 @@ float autotune(angle_index_t angleIndex, const rollAndPitchInclination_t *inclin
if (feature(FEATURE_BLACKBOX)) {
flightLogEvent_autotuneCycleResult_t eventData;
eventData.overshot = overshot;
eventData.flags = (overshot ? FLIGHT_LOG_EVENT_AUTOTUNE_FLAG_OVERSHOT : 0) | (timedOut ? FLIGHT_LOG_EVENT_AUTOTUNE_FLAG_TIMEDOUT : 0);
eventData.p = pidProfile->P8[pidIndex];
eventData.i = pidProfile->I8[pidIndex];
eventData.d = pidProfile->D8[pidIndex];